Man-machine interaction somatosensory vehicle

ABSTRACT

A man-machine interaction somatosensory vehicle includes a vehicle body and two wheels provided on the vehicle body. The wheels are able to rotate around the vehicle body in a radial direction. The vehicle body further comprising a supporting frame, two pedal devices provided on the supporting frame, a control device, and a driving device for driving the wheels. The supporting frame is of an integral structure and being rotatably connected to the wheels. The pedal devices includes a pedal foot board and a first position sensor located between the pedal foot board and the supporting frame and used for sensing the stress information on the pedal devices. The control device controls, according to the stress information on the two pedal devices, the driving device to drive the wheels to move or steer.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a 371 of international application of PCTapplication serial no. PCT/CN2017/092610, filed on Jul. 12, 2017, whichclaims the priority benefits of China Applications No. 201710005993.5,No. 201710006181.2, No. 201710005991.6 and No. 201710006953.2 filed onJan. 4, 2017. The entirety of each of the above-mentioned patentapplications is hereby incorporated by reference herein and made a partof this specification.

BACKGROUND Technical Field

The present disclosure relates to a balancing vehicle, and particularlyto a man-machine interaction somatosensory vehicle.

Description of Related Art

Man-machine interaction somatosensory vehicle, also known as electricbalancing vehicle, thinking vehicle, its operating principle is mainlybased on a basic principle called “dynamic stability”, using thegyroscope and acceleration sensor inside the vehicle body to detect thechange of posture of vehicle, and using the servo control system toaccurately drive the motor to adjust correspondingly to maintain thebalance of the system.

The existing man-machine interaction somatosensory vehicle is generallydivided into two types: with an operating lever and without an operatinglever. For the man-machine interaction somatosensory vehicle withoperating lever, the man-machine interaction somatosensory vehicle isspecifically operated and controlled by the operating lever. For theman-machine interaction somatosensory vehicle without the operatinglever, the man-machine interaction somatosensory vehicle is controlledto move forward or backward by tilting the whole man-machine interactionsomatosensory vehicle, and the steering is implemented by the user bymeans of placing feet on the pedal platform through a relative rotationangle difference between the two pedal platforms. Specifically, thetwo-wheeled self-balancing man-machine interaction somatosensory vehicledisclosed by Chinese Application No. CN201410262108.8 is therepresentative of the two-wheeled man-machine interaction somatosensoryvehicle without the operating lever. An inner cover of the balancingvehicle comprises a symmetrically arranged left inner cover and a rightinner cover, and the left inner cover is rotatably connected to theright inner cover.

However, the inner cover of the balancing vehicle for supporting theframe needs to comprise a left inner cover and a right inner cover, andthe structure is relatively complicated.

SUMMARY

The disclosure is a man-machine interaction somatosensory vehicle with asimple structure proposed to overcome the prior art.

In order to achieve the above purpose, the present disclosure provides aman-machine interaction somatosensory vehicle. The man-machineinteraction somatosensory vehicle comprises a vehicle body and twowheels disposed on the vehicle body, the wheels are able to rotatearound the vehicle body in a radial direction; the vehicle body furthercomprises a supporting frame, two pedal devices provided on thesupporting frame, a control device, and a driving device for driving thewheels; the supporting frame is of an integral structure and isrotatably connected to the wheels; the pedal devices comprise a pedalfoot board and a first position sensor located between the pedal footboard and the supporting frame and configured for sensing the stressinformation on the pedal devices; and the control device controls,according to the stress information on the two pedal devices, thedriving device to drive the wheels to move or steer.

Further, each of the first position sensors comprises two sensingelement regions distributed at two portions on the pedal foot board, andthe first position sensor senses the stress information of the twoportions of the pedal foot board through the two sensing elementregions, thereby obtaining the stress information of the pedal devices.

Further, the sensing element region is provided with a first forcereceiving portion and a second force receiving portion, and the firstforce receiving portion of each sensing element regions abuts againstone of the supporting frame and the pedal foot board. The second forcereceiving portion abuts against the other of the supporting frame andthe pedal foot board.

Further, a bottom surface of the element of one of the first forcereceiving portion and the second force receiving portion abuttingagainst the pedal foot board is in suspended arrangement.

Further, the pedal device further comprises a sensor fixing base mountedon the supporting frame, and one of the first force receiving portionand the second force receiving portion that abuts against the supportingframe abuts against the supporting frame through the sensor fixing base.

Further, the first force receiving portion abuts against the pedal footboard, the second force receiving portion abuts against the sensorfixing base, and a bottom surface of the first force receiving portionis suspended.

Further, the first force receiving portion is provided with a firstthrough hole, the second force receiving portion is provided with asecond through hole, and the pedal foot board is provided with a firstfixing hole, and the sensor fixing base is provided with a second fixinghole. The first force receiving portion is mounted on the pedal footboard and abuts against the pedal foot board in a manner that a firstfixing member passes through the first through hole and is locked intothe first fixing hole. The second force receiving portion is mounted onthe sensor fixing base and abuts against the sensor fixing base in amanner that a second fixing member passes through the second throughhole and is locked into the second fixing hole.

Further, the first fixing member comprises a screw, a nut, and aconnecting rod connecting the screw and the nut, the connecting rod is arod with a smooth side, and the connecting rod is located in the firstthrough hole.

Further, the diameter of the connecting rod is smaller than the innerdiameter of the first through hole.

Further, a gasket assembly is interposed between the nut and an outsideforce receiving portion.

Further, the pedal device further comprises a lower shell locatedbetween the sensor fixing base and the vehicle body.

Further, a foot pad is disposed above the pedal foot board, and the footpad is connected to the lower shell in a closed manner.

Further, a bottom of the pedal device is recessed from bottom to top topartially receive the supporting frame.

Further, the first position sensor is a stress sensor.

Further, the first position sensor is configured to sense whether thereis a user on the pedal device to control the wheels to start or stop.

Further, the man-machine interaction somatosensory vehicle furthercomprises a second position sensor for sensing tilt information of thesupporting frame relative to the wheels.

Further, the second position sensor comprises a gyroscope, anacceleration sensor and/or a photoelectric sensor.

Further, the supporting frame is provided with a longitudinal powersupply extending in an axial direction of the wheels, the power supplycomprises a battery case, and the battery case and the supporting frameare made of metal.

Further, a position-limiting recess and a position-limiting protrusionmatched with each other are disposed between the battery case and thesupporting frame.

Further, the supporting frame is provided with a recessed guide rail,and the guide rail is provided with a pedal fixing bracket for mountingand holding the pedal device.

Further, the guide rail extends in a left-right direction and isdisposed on a front side and/or a rear side of the supporting frame.

Further, the left and right ends of the guide rail are provided with apedal device fixing bracket for respectively mounting and holding thetwo pedal devices on left and right.

Further, a single-sided guide rail for inserting the two pedal devicefixing brackets on left and right is integrally extended or independentof each other.

Further, the guide rail has a T-shaped cross section.

Further, the pedal device fixing bracket comprises an insertion portionlaterally inserted into the guide rail and a mounting portion extendingoutwardly from the guide rail for mounting and holding the pedal device.

Further, the mounting portion is provided with a fastening hole forfastening the pedal device.

Further, a supporting wing portion extending between the mountingportion and the insertion portion and attached to the supporting framein an upward and/or a downward direction is provided.

Further, the supporting frame is a circular tube extending axially alongthe wheels, and the guide rail and the pedal device fixing bracket arelocated in an upper half portion of the supporting frame.

Further, a wheel axle is disposed between the wheel and the vehiclebody, the wheel is rotatably connected to the vehicle body through thewheel axle, and a center of gravity of the vehicle body is lower thanthe wheel axle.

Further, one end of the wheel axle is connected to the wheel, and theother end is connected with a wheel axle fixing board, and the wheelaxle fixing board is fixed to the vehicle body.

Further, the wheel axle is fixed to an upper half portion of the wheelaxle fixing board.

Further, a lateral end of the supporting frame is provided with a motorfixing base for fixedly engaging the wheel axle fixing board, and acenter of gravity of the motor fixing base is lower than the wheel axle.

Further, a sealing gasket is disposed between the wheel axle fixingboard and the motor fixing base.

Further, the supporting frame is provided with a receiving cavity forinserting and engaging the motor fixing base, and the motor fixing basecomprises an insertion end for inserting and positioning in thereceiving cavity and a cover part connected to the insertion end forsealing an outer side of the receiving cavity.

Further, a power supply is disposed in the receiving cavity, and themotor fixing base is provided with a positioning rod laterally protrudedfor abutting against the power supply in the receiving cavity.

Further, a wheel cover is disposed above the wheel, and the cover partof the motor fixing base extends upward to form an insertion mountingleg for inserting and fixing the wheel cover.

Further, a position-limiting protrusion and a position-limiting recessextending left and right and matching each other are provided between areceiving cavity of the vehicle body and the insertion end of the motorfixing base.

Further, the wheel axle fixing board is perpendicular to the wheel axledirection.

Further, the driving device is disposed in the wheel, and the wheel axleis provided with a cable connecting the driving device, and the cableextends out of the wheel axle fixing board to be connected to thecontrol device and/or the power supply.

Further, the motor fixing base is provided with a recessed receivingslot for receiving and holding the wheel axle fixing board.

Further, the control device comprises a main control board disposedlaterally within the tubular supporting frame.

Further, a power supply is disposed in the supporting frame, and themain control board is provided with a battery docking interface forelectrically connecting to the power supply.

Further, the power supply is provided with a battery interface fordocking the battery docking interface.

Further, the battery docking interface is located in a middle portion ofthe main control board in a left-right direction.

Further, left and right ends of the main control board are provided withan external docking interface for electrically connecting to the drivingdevices and/or the first position sensors on two sides.

Further, a connector electrically connected to the driving device andelectrically connected to the external docking interface is disposedbetween the supporting frame and the wheels.

Further, the external docking interface is located at both ends of thepower supply in the left-right direction.

Further, the main control board is laterally disposed at a top end ofthe supporting frame, and the power supply is located below the maincontrol board.

Further, front and rear sides above the power supply are provided withabutting ribs extending in left and right for abutting upward againstthe main control board, and an empty slot is provided between theabutting ribs and is disposed between the main control board and thepower supply.

Further, the man-machine interaction somatosensory vehicle is providedwith a transmission connection element, and the connection elementcomprises a power connection element, a Hall connection element, and atemperature connection element for transmitting a temperature signal.

Further, the transmission element is a cable or a connecting terminal.

Further, the transmission element comprises a Hall transmission element.

Further, the transmission element comprises one or more temperaturetransmission element.

Further, the transmission element comprises a power transmissionelement.

Further, a power supply is disposed in the supporting frame, and atemperature sensor for monitoring an internal temperature of the powersupply is disposed inside the power supply, and the temperaturetransmission element is connected to the temperature sensor.

Further, a wheel axle is disposed between the wheel and the vehiclebody, and the wheel is rotatably connected to the vehicle body throughthe wheel axle, and the driving device is disposed in the wheels, andthe wheel axle is provided with a cable connected to the driving device,and the cable extends out of the wheel axle for connecting to aconnector.

Further, the connector comprises a frame port and a connecting terminalcorrespondingly connected to the cable in the frame port.

Further, the power supply is connected to an external docking interface,and the external docking interface and the connector are docked witheach other.

Further, the control device comprises a main control board, and abattery docking interface and a battery interface inserted into eachother are interposed between the power supply and the main controlboard, the external docking interface is disposed on the main controlboard, and the external docking interface is connected to the powersupply through the main control board.

Further, a wheel cover is disposed outside the wheel, and the wheelcover is provided with anti-collision adhesive.

Further, the anti-collision adhesive is protruded from an outer side ofthe wheel cover.

Further, the anti-collision adhesive is located on the front and rearsides of the wheel cover.

Further, the wheel cover is fixed on the vehicle body.

Further, the vehicle body comprises a motor fixing base disposed betweenthe wheels and the supporting frame.

Further, the motor fixing base extends upward to form an insertionmounting leg for inserting and fixing the wheel cover, and a mountinginsertion slot recessed from bottom to top for receiving the insertionmounting leg is provided below the wheel cover.

Further, a fixing rod protruding from top to bottom and located on frontand rear sides of the mounting insertion slot is provided below thewheel cover, and the motor fixing base is provided with a fixing slotrecessed from top to bottom and located on the front and rear sides ofthe insertion mounting leg for inserting, receiving and fixing thefixing rod.

Further, the wheel cover is provided with a wheel cover portion forshielding the wheel and an extension portion extending in a shrinkingmanner from the wheel cover portion to the supporting frame in astreamlined shape.

Further, the extending tail end of the extension portion is providedwith a mounting notch for engaging the supporting frame.

Further, the first position sensor comprises two front and rear endportions and a connecting portion connecting the two end portions, eachof the end portions comprises the first force receiving portion, thesecond force receiving portion, and the sensing element region betweenthe first force receiving portion and the second force receivingportion.

Further, a first gap is formed between the pedal foot board and thesensing element region.

Further, a second gap is formed between the sensor fixing base and thesensing element region.

Due to the application of the above technical solutions, the presentdisclosure has the following advantages:

The man-machine interaction somatosensory vehicle of the presentdisclosure controls, according to the stress information on the pedaldevices, the driving device to drive the wheels to move or steer, so asto effectively solve the problem in the available self-balancing vehicleof a complex structure caused by the necessity of designing thesupporting frame as two rotatable portions and controlling the rotationof the wheels by means of the rotation of the two portions.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a three-dimensional assembled diagram of a man-machineinteraction somatosensory vehicle of the present disclosure.

FIG. 2 is a three-dimensional assembled diagram showing the man-machineinteraction somatosensory vehicle of the present disclosure from anotherangle.

FIG. 3 is a three-dimensional assembled diagram showing the man-machineinteraction somatosensory vehicle of the present disclosure from yetanother angle.

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3 .

FIG. 5 is a partial exploded three-dimensional view of wheels of theman-machine interaction somatosensory vehicle of the present disclosure.

FIG. 6 is a three-dimensional assembled diagram of a relevant part ofthe wheels of FIG. 5 .

FIG. 7 is a three-dimensional assembled diagram of a relevant part of avehicle body of FIG. 5 .

FIG. 8 is an exploded three-dimensional view of the man-machineinteraction somatosensory vehicle of the present disclosure.

FIG. 9 is an exploded three-dimensional diagram showing the man-machineinteraction somatosensory vehicle of the present disclosure from anotherangle.

FIG. 10 is a three-dimensional structure diagram showing a pedal devicefixing bracket of the man-machine interaction somatosensory vehicle ofthe present disclosure.

FIG. 11 is an exploded diagram of the structure of the pedal device ofFIG. 8 .

FIG. 12 is an exploded diagram showing the pedal device of FIG. 11 fromanother angle.

FIG. 13 is an exploded diagram showing the structure of the relevantpart of the wheels of FIG. 8 .

FIG. 14 is an exploded diagram showing the structure of the relevantpart of the wheels of FIG. 13 from another angle.

FIG. 15 is an exploded diagram showing the structure of the relevantpart of the vehicle body of FIG. 8 .

FIG. 16 is an exploded diagram showing the relevant part of the vehiclebody of FIG. 15 from another angle.

FIG. 17 is a cross-sectional diagram of the pedal device of FIG. 1 andshows a fixing member.

DESCRIPTION OF THE EMBODIMENTS

In order to make the objects, technical solutions and advantages of thepresent disclosure more comprehensible, the present disclosure will befurther described in detail below with reference to the accompanyingdrawings and embodiments. It should be understood that the specificembodiments described herein are merely illustrative of the disclosureand are not intended to limit the disclosure.

Referring to FIG. 1 to FIG. 17 , which illustrate schematic structuraldiagram of a man-machine interaction somatosensory vehicle 100 of thepresent disclosure, it comprises a vehicle body 10 and two wheels 20disposed on the vehicle body 10. The wheels 20 are rotatable around thevehicle body 10 in a radial direction. The vehicle body 10 furthercomprises a supporting frame 11, two pedal devices 12 disposed on thesupporting frame 11, a control device 15, and a driving device (notshown) for driving the wheels 20. The supporting frame 11 is an integralstructure and rotatably connected to the wheels 20. Each of the pedaldevices 12 comprises a first position sensor 13 for sensing the stressinformation of the pedal device 12. The control device 15 controls thedriving device to drive the wheel 20 to move or steer according to thestress information of the two pedal devices 12. It should be noted thatthe movement of the wheels 20 means that the driving device drives tooutput the same output to the two wheels 20, so that the wheels 20 has asame rotational speed to drive the vehicle body to move forward orbackward (certainly, in extreme cases, it may also be stationary, inthat case, the wheels 20 are in a balanced state). The steering of thewheels 20 means that the driving device outputs two different drivingforces to the wheels 20, so that the rotational speeds of the wheels 20are different, so that the vehicle body is steered when moving forwardor steered when moving backward.

The supporting frame 11 is provided with a recessed guide rail 112. Theguide rail 112 is inserted with a pedal device fixing bracket 18 formounting and holding the pedal device 12. With such configuration, thestructure is simple and easy to assemble, and the supporting frame 11can be assembled with the pedal device fixing bracket 18 after beingseparately manufactured, so that different manufacturing processes canbe selected according to the specific requirements of the two. Forexample, in some specific embodiments, the supporting frame 11 has atubular shape, and the separated manufacturing facilitates the moldingof the supporting frame 11. The integral structure refers to a structurein which the supporting frame 11 is an integral structure as comparedwith the left inner cover and the right inner cover which are rotatablewith respect to each other in the prior art. In different embodiments,the integral structure may be separately assembled or integrally formed.Further, viewed from the cross-sectional diagram, the tubular shape maycomprise a tubular shape, a polygonal tubular shape, or a tubular shapeof any other cross-sectional shape. Viewed from extending in aleft-right direction, the tubular shape not limited to a tubular tubeextending in an equidistant manner can be a variety of irregularlyextending tubular, such as partial enlargement, partial reduction,rotation, displacement, etc.

The guide rail 112 extends in the left-right direction and is disposedon a front side and/or a rear side of the supporting frame 11. In thiscontext, the left-right direction is an axial direction of the wheels20. In such configuration, the pedal device fixing bracket 18 can beinserted into the supporting frame 11 in the left-right direction, sothat the pedal device fixing bracket 18 can receive a good fasteningforce in an up-down direction, which is favorable for supporting thepedal device 12 upwardly.

The left and right ends of the guide rail 112 are inserted with a pedaldevice fixing bracket 18 for mounting and holding the two pedal devices12 on left and right, respectively. With such configuration, the twoleft and right pedal devices 12 are fixed on the pedal device fixingbracket 18. In the embodiment, the single-sided guide rail 112 forinserting the two pedal device fixing brackets 18 on left and right isintegrally extended. The single side, that is, the front side or therear side, for example, the same guide rail 112 on the front side can besimultaneously inserted with the pedal device fixing brackets 18 forrespectively holding the two pedal devices 12 without interruption. Inthis manner, the structure is simple and easy to manufacture andassemble. In other embodiments, the single-sided guide rails 112 canalso be set independently of each other.

The guide rail 112 has a T-shaped cross section. With suchconfiguration, the pedal device fixing bracket 18 can be inserted intothe guide rail 112 to prevent detaching outward. Certainly, in otherembodiments, the cross section of the guide rail 112 can be set in othershapes, such as a triangle, a circle, etc. as long as a diameter of theopening of the guide rail is smaller than an inner diameter of the guiderail so that the pedal device fixing bracket 18 is not easy to fall off.

The pedal device fixing bracket 18 comprises an insertion portion 181for laterally inserting into the guide rail 112, and a mounting portion183 extending outwardly from the guide rail 112 for mounting and holdingthe pedal device 12. In this way, the pedal device fixing bracket 18 canbe fixed on the supporting frame 11 for holding the pedal device 12.

The mounting portion 183 is provided with a fastening hole 101 forfastening the pedal device 12. In this way, the fastening hole 101 canbe provided with a fastening member such as a nut to achieve a stableconnection with the pedal device 12.

A supporting wing portion 182 extending between the mounting portion 183and the insertion portion 181 and attached to the supporting frame 11 inan upward and/or a downward direction is provided. In this way, thesupporting wing portion 182 can be abutted on the supporting frame 11 inthe up-down direction, thereby improving the robustness of the pedaldevice fixing bracket 18, thereby improving the fastening stabilitybetween the pedal device 12 and the supporting frame 11.

In the present embodiment, the supporting frame 11 is a tubular shapeextending axially along the wheel 20, and the guide rail 112 and thepedal device fixing bracket 18 are both located in an upper half portionof the supporting frame 11. In this manner, the supporting frame 11 canprovide better upward support to the pedal device fixing bracket 18.Certainly, the guide rail 112 and the pedal device fixing bracket 18 aredisposed on the upper half portion of the supporting frame 11 as apreferred implementation, but the arrangement should not be construed asa limitation to the present disclosure. In other embodiments, the guiderail 112 and the pedal device fixing bracket 18 may also be located in amiddle or lower portion of the supporting frame 11.

The insertion portion 181 has a T-shaped cross section. In this way, theinsertion portion 181 can be closely engaged with the guide rail 112 toimprove the fastening stability. In other embodiments, the cross sectionof the insertion portion 118 corresponding to the guide rail 112 may beset to a circle, a triangle, or the like.

The man-machine interaction somatosensory vehicle 100 further comprisesa power supply 16 for supplying power to the driving device, the firstposition sensor 13 and the control device 15, and the control device 15is configured to control the power source 16, the driving device and thefirst position sensor 13, and sends a driving signal to the drivingdevice according to the stress information sensed by the first positionsensor 13, thereby driving the wheels 20 to rotate.

A wheel axle 21 is disposed between the wheel 20 and the vehicle body10, and the wheel 20 is rotatably connected to the vehicle body 10through the wheel axle 21.

Preferably, a center of gravity of the vehicle body 10 is lower than thewheel axle 21. In this manner, the vehicle body 10 as a whole can alwayshang the center of gravity below the wheel axle 21, and keep the vehiclebody 10 to maintain in the original state without turning up when theman-machine interaction somatosensory vehicle 100 is in an operating ornon-operating state. Even if the vehicle body 10 is turned up by anexternal force, the vehicle body 10 can be restored to the originalposition due to the effect of gravity, thereby bringing greatconvenience to the user when in use. In other embodiments, the center ofgravity of the vehicle body 10 may also be set not lower than the wheelaxle 21, and the setting of the center of gravity of the vehicle bodyshould not be construed as a limitation to the present disclosure.

It can be understood that the wheel 20 is rotatably connected to thevehicle body 10 through the wheel axle 21 in a plurality of ways. Forexample, in a specific embodiment, the wheel 20 can be fixed on thewheel axle 21, and the wheel axle 21 is rotatably connected to thevehicle body 10. Alternatively, in other embodiments, the wheel axle 21may be fixed on the vehicle body 10, and the wheel 20 is rotated alongthe wheel axle 21.

In the present embodiment, one end of the wheel axle 21 is connected tothe wheel 20, the other end thereof is connected to a wheel axle fixingboard 23, and the wheel axle fixing board 23 is fixed on the vehiclebody 10. As such, the wheel 20 can be assembled to the supporting frame11 after being connected to the wheel axle fixing board 23, therebyfacilitating modular assembly between the supporting frame 11 and thewheel 20.

The wheel axle 21 is fixed on an upper half portion of the wheel axlefixing board 23. In this manner, after the wheel axle fixing board 23 ismounted on the supporting frame 11, the center of gravity of the vehiclebody 10 can be better positioned below the wheel axle 21.

The lateral side of the supporting frame 11 is provided with a motorfixing base 3 for fixedly engaging the wheel axle fixing board 23, and acenter of gravity of the motor fixing base 3 is lower than the wheelaxle 21 after being assembled with the wheel axle fixing board 23. Withthis arrangement, it is further ensured that the center of gravity ofthe vehicle body 10 is lower than the wheel axle 21. Specifically, themotor fixing base 3 can be made of a metal having a relatively largemass to ensure that the center of gravity of the vehicle body 10 isbelow the wheel axle 21 and maintains high stability.

A sealing gasket (not shown) is disposed between the wheel axle fixingboard 23 and the motor fixing base 3. In this way, a better dustproofand waterproof effect between the vehicle body 10 and the wheel 20 canbe achieved.

The supporting frame 11 is provided with a receiving cavity 110 forinserting and engaging the motor fixing base 3. The motor fixing base 3comprises an insertion end 32 for inserting and positioning in thereceiving cavity 110 and a cover part 31 connected to the insertion end32 for sealing an outer side of the receiving cavity 110. In thismanner, the motor fixing base 3 can be mounted and fixed to thesupporting frame 11 through the insertion end 32, and the cover body isclosed on an outer side of the supporting frame 11 to achieve bettersealing effect.

The power supply 16 is disposed in the receiving cavity 110. The motorfixing base 3 is provided with a positioning rod 312 that is laterallyprotruding for abutting against the power supply 16 into the receivingcavity 110. In this way, the motor fixing base 3 can prevent the powersupply 16 from shaking left and right, and improve the structuralstability of the interior of the vehicle body 10.

A wheel cover 123 is disposed above the wheel 20, and the cover part 31of the motor fixing base 3 extends upward to form an insertion mountingleg 311 for inserting and fixing the wheel cover 123. In this way, thewheel cover 123 can be stably fixed on the motor fixing base 3 for easyassembling. In other embodiments, the wheel cover 123 can also be fixedon the vehicle body 10 by other means.

A position-limiting protrusion 111 and a position-limiting recess 321extending left and right and matching each other are disposed betweenthe receiving cavity 110 of the vehicle body 10 and the insertion end 32of the motor fixing base 3. In this way, on the one hand, it can beprevented that the motor fixing base 3 is rotated in the receivingcavity 110; and when the elements are assembled, it can be preventedthat the two parts are reversely mounted, thereby achieving a fool-proofpositioning function. Moreover, the position-limiting protrusion 111 canalso serve as a reinforcing rib to increase the robustness of thesupporting frame 11 and improve the structural stability of the vehiclebody 10. In other embodiments, the position-limiting protrusion 111 canalso be disposed on the insertion end 3, and the position-limitingrecess 321 is disposed in the receiving cavity 110.

The wheel axle fixing board 23 is perpendicular to the linear directionof the wheel axle 21. In this way, the wheel axle fixing board 23 isless likely to be deflected when subjected to the effect of the vehiclebody 10 in the front-rear direction and/or the up-down direction, andthe fastening stability between the wheel axle fixing board 23 and thevehicle body 10 is improved. In other embodiments, the wheel axle fixingboard 23 may not be perpendicular to the linear direction of the wheelaxle 21.

The driving device is disposed in the wheel 20, and the wheel axle 21 isprovided with a cable 211 connected to the driving device, and the cable211 extends out of the wheel axle fixing board 23 for connecting withthe control device 15 and/or the power supply 16. As such, the drivingdevice in the wheel 20 can be connected to the control device 15 and/orthe power supply 16 through the cable 211 passing through the wheel axlefixing board 23. The driving device is a motor. In other embodiments,the driving device may also be disposed in the vehicle body 20.

The motor fixing base 3 is provided with a recessed receiving slot 33for receiving and holding the wheel axle fixing board 23. In this way,the wheel axle fixing board 23 can be received and positioned in thereceiving slot 33, thereby improving the flatness of the outer surfaceof the vehicle body 10. In other embodiments, the motor fixing base 3may also be integrally formed with a part or the whole of the supportingframe 11.

The wheel axle fixing board 23 is rectangular, and the receiving slot 33is a rectangle corresponding to the wheel axle fixing board 23. In otherembodiments, other shapes are also possible. In this way, the receivingslot 33 can be inserted in and position the wheel axle fixing board 23to prevent the wheel axle fixing board 23 from moving or rotating.

The pedal device 12 further comprises a pedal foot board 121 above thefirst position sensor 13, the first position sensor 13 comprises twosensing element regions 1313, and the two sensing element regions 1313are distributed in the front and rear portions of the pedal foot board121. A second force receiving portion 1312 for directly or indirectlyabutting against the supporting frame 11 is provided at an end where thetwo sensing element regions 1313 are close to each other. A first forcereceiving portion 1311 for directly or indirectly abutting against thepedal foot board 121 is provided at an end where the two sensing elementregions 1313 are away from each other. Thus, when the pedal foot board121 is pedaled downward, the first force receiving portions 1311 onfront and rear sides receive an up-down force, and the second forcereceiving portion 1312 in the middle receives a bottom-up abuttingforce, such that the first position sensor 13 exhibits an arcdeformation similar to an upward arc, which can be interpreted as amacroscopic deformation or a microscopic deformation, so that thesensing element regions 1313 at the front and rear ends sense the amountof deformation. A bottom surface of the first force receiving portion1311 is in suspended arrangement, so that the first force receivingportion 1311 has a space for moving downward when the pedal foot board121 is subjected to a pedaling force, which facilitates the sensingelement region 1313 to be easily arched upward. Certainly, the upperportion of the second force receiving portion 1312 is preferably insuspended arrangement. Preferably, a first gap 5 is formed between thepedal foot board 121 and the sensing element region 1313, and the firstgap 5 can provide a space for the sensing element region 1313 in thefirst position sensor 13 to be upwardly arched. Certainly, in otherembodiments, the first force receiving portion 1311 can abut against thesupporting frame 11, the second force receiving portion 1312 abutsagainst the pedal foot board 121, and a bottom surface of the secondforce receiving portion 1312 is in suspended arrangement. A top surfaceof the first force receiving portion 1311 is preferably in suspendedarrangement. The deformation principle of the sensing element region1313 in this embodiment is similar to the above-described deformation,and related details are not described herein. It should be noted thatthe distribution of the two sensing element regions 1313 under the samepedal foot board 121 is not limited to the front and rear regions of thepedal foot board 121, and the distribution may be in the left and rightregions of the pedal foot board 121.

The direct abutment means that there is no other element between twoparts and the two parts are in direct contact to achieve the abutment.The indirect abutment means that the two parts abut against each otherthrough transmission of force of other elements. For example, in theembodiment, a sensor fixing base 125 is further disposed in the abutmentbetween the second force receiving portion 1312 and the supporting frame11.

Specifically, as shown in FIG. 4 , the pedal device 12 comprises thesensor fixing base 125 for directly fixing on the second force receivingportion 1312, and the sensor fixing base 125 is configured for directlyor indirection fixing on the supporting frame 11. In this way, the firstposition sensor 13 can be fixed on the sensor fixing base 125 and thenmounted on the supporting frame 11 to protect the first position sensor13 during installation. It should be noted that a second gap 6 is formedbetween the sensor fixing base 125 and the sensing element region 1313in order to provide a space for the sensing element region 1313 todeform downward.

As shown in FIG. 4 and FIG. 17 , in the embodiment, the first forcereceiving portion 1311 is provided with a first through hole 134, andthe second force receiving portion 1312 is provided with a secondthrough hole 1315. The pedal foot board 121 is provided with the firstfixing hole 1211. The sensor fixing base 125 is provided with the secondfixing hole 1251. The first force receiving portion 1311 is mounted onthe pedal foot board 121 and abuts against the pedal foot board 121 in amanner that the first fixing member 7 passes through the first throughhole 134 and is locked into the first fixing hole 1211. The second forcereceiving portion 1312 is mounted on the sensor fixing base 125 andabuts against the sensor fixing base 125 in a manner that the secondfixing member 8 passes through the second through hole 1315 and islocked into the second fixing hole 1251.

In the present embodiment, the first fixing member 7 comprises a screw71, a nut 72, and a connecting rod 73 connecting the screw 71 and thenut 72. The connecting rod 73 is a rod with a smooth side, and theconnecting rod 73 is located in the first through hole 134. When thefirst fixing member 7 is in use, the connecting rod 73 and the firstthrough hole 134 are in smooth contact, which can reduce the frictionbetween the connecting rod 73 and the first through hole 134, and avoiddamage to the first through hole 134 due to excessive friction, leadingto the problem of deformation of the sensing element region 1313.

The diameter of the connecting rod 73 is slightly smaller than the innerdiameter of the first through hole 134, so that the friction between theconnecting rod 73 and the first through hole 134 can be further reducedwithout affecting the mounting effect of the first fixing member 7mounting the first force receiving portion 1311 on the pedal foot board121.

A gasket assembly 9 is interposed between the nut 72 and the first forcereceiving portion 1311. The gasket assembly 9 can prevent the firstforce receiving portion 1311 from being excessively stressed, leading tothe problem of deformation of the sensing element region 1313 when thefirst fixing member 7 mounts the first force receiving portion 1311 onthe pedal foot board 121.

It can be understood that the second fixing member 8 can be configuredas the structure of the first fixing member 7 or a common bolt. A gasketassembly can also be disposed between the head portion of the secondfixing member 8 and the second force receiving portion 1312.

The first position sensor 13 is, for example, a stress sensor thatcomprises two front and rear end portions 131 and a connecting portion132 connecting the two end portions 131. Each of the end portions 131comprises the second force receiving portion 1312, the first forcereceiving portion 1311 and the sensing element region 1313 locatedbetween the second force receiving portion 1312 and the first forcereceiving portion 1311. In this manner, the front and rear end portions131 can sense different stress information according to different forcesapplied by the front and rear feet respectively. In another expression,it can be understood that the two different stress sensors respectivelytest different forces applied by the front and rear feet. The twosensing element regions 1313 are connected through the connectingportion 132, and when one end portion 131 is subjected to force, theother end portion 131 has a tendency to be tilted through the action ofthe connecting portion 132, so that the sensing element region 1313 inthe end portion 131 having an upward tilting tendency is recesseddownward, which may cause a negative stress to be generated, which ismore advantageous for calculating the stress difference through the twosensing element regions 1313, so that the accuracy and sensitivity ofthe stress collected by the first position sensor 13 is improved, and itis convenient for the control device to control the output force of thedriving device through the first position sensor 13.

In summary, that is, the same pedal device 12 is provided with the twosensing element regions 1313 for sensing the stress information of thesame foot, and the stress applied to the two portions (specificallycorresponding to the front portion and the rear portion of the pedaldevice 12) corresponding to the pedal device 12 and sensed by the twosensing element regions 1313 is the stress information from the samefoot on the same pedal device 12. More specifically, the difference inthe stress sensed by the two sensing element regions 1313 is the stressinformation of the same foot on the same pedal device 12. In otherwords, for the same first position sensor 13, that is, the controldevice 15 receives the stress value sensed by the two sensing elementregions 1313 in the same first position sensor 13, and the controldevice 15 calculates the difference between the two stress values, eachof the pedal devices 12 corresponds to one stress difference, andfinally the control device 15 drives, according to the relationshipbetween the two stress differences, i.e., the stress information, thewheel 20 to rotate, which in turn drives the vehicle body of theman-machine interaction somatosensory vehicle to move or steer.

Specifically, when the stress information of the two pedal devices 12 isthe same (specifically referred to as stress difference, the stressdifference herein does not refer to the absolute value of the stressdifference, but has a direction, for example, for a pedal device 12,when the front portion is subjected force, the stress difference isrecorded as positive, and when the stress on the rear portion is large,the stress difference is recorded as a negative value), the controldevice 15 controls the driving device to output the same driving forceto the two wheels 20, so that the two wheels 20 rotate in a same speed,realizing movement of the vehicle body 10. As a special case, when thevehicle body is in the balanced state, the rotational speeds of the twowheels 20 are zero, and the vehicle body does not move on this occasion.When the stress information of the two pedal devices 12 is different,the control device 15 controls the driving device to output differentdriving forces to the two wheels 20, wherein one of the wheels 20receives a driving force greater than that of the other one of thewheels 20, so that the rotational speeds of the two wheels 20 aredifferent. As such, the moving speed of the wheel 20 on one side isgreater than the moving speed of the other wheel 20 on the other side,thereby achieving steering. It should be noted that the first positionsensor 13 can only control the rotation of the wheels 20 to drive thevehicle body to move or steer, but the rotational speeds of the wheels20 in movement need to be controlled by other sensors. How the controldevice 15 controls the driving device to output the same driving forceis described in details below.

Specifically, the man-machine interaction somatosensory vehicle 100further comprises a second position sensor (not shown) for sensing thetilt information of the supporting frame 11 relative to the wheels 20.In this way, when the user stands on the pedal device 12, the stressinformation of the two pedal devices 12 is the same. When the user leansforward, the supporting frame 11 is driven to be tilted forward as awhole, and after the second position sensor senses the information thatthe supporting frame 11 is tilted forward, the second position sensorsends the information that the supporting frame 11 is tilted forward tothe control device 15. Then the control device 15 controls and drivesthe wheel 20 to move forward so that the whole has a backward tiltingforce, which brings a balancing function. In addition, the greater thetilt angle sensed by the second position sensor, the greater the drivingforce. Specifically, the second position sensor comprises a gyroscope,an acceleration sensor, and/or a photoelectric sensor. It should benoted that when the user leans backward, the wheel 20 moves backward,and the principle thereof is the same as the principle of the forwardmotion described above, and related details are not described herein.

In this embodiment, the same pedal device 12 is provided with twosensing element regions 1313 for sensing the stress information on thesame foot. In other embodiments, the first position sensor 13 may be asensor having only one sensing element region 1313, that is, it may beexpressed as that the same pedal device 12 may be provided with twofirst position sensors 13 of this kind for sensing the stressinformation on different parts of the same foot. The control device 15is configured to drive the wheel 20 to move or steer according to thestress difference between the two first position sensors 13. In thisway, when the two pedal devices 12 have the same stress informationdifference, the two wheels 20 move at the same speed. When the two pedaldevices 12 have different stress information differences, one of thewheels 20 rotates at a faster speed than the other wheel 20, or therotational directions of the wheels 20 on both sides are opposite,thereby achieving steering.

In the present embodiment, the first position sensor 13 is an I-shapedfirst position sensor, and the width of the connecting portion 132 issmaller than the width of the end portion 131 in the left-rightdirection. In this way, the connecting portion 132 can fix the two frontand rear second force receiving portions 1312 to enhance the strength ofthe first position sensor 13, and the narrower connecting portion 132can reduce the weight of the first position sensor 13. On the otherhand, the first position sensor 13 may have better elasticity to improvesensing sensitivity. Certainly, in other embodiments, the shape of thefirst position sensor 13 is not limited thereto, and a circular loadsensor or the like may be employed.

The pedal device 12 further comprises a lower shell 126 located betweenthe sensor fixing base 125 and the vehicle body 10. In this way, thestructural flatness of an outer side of the vehicle body 10 can beimproved, and the protection function and aesthetic sense are better.

A foot pad 122 is disposed above the pedal foot board 121, and the footpad 122 is connected to the lower shell 126 in a closed manner. The footpad 122 can be made of soft rubber material or the like, so that thewear resistance and friction of the foot pad 122 can be increased, theuser's comfort can be improved, and the waterproof and dustproof effectcan be improved.

Referring to FIG. 3 , the pedal device 12 is elliptical. In this way,the user's safety can be improved and the appearance is more beautiful.In other embodiments, the pedal device 12 can also have other shapes.

The supporting frame 11 is a tubular shape extending axially along thewheels 20. The pedal device 12 is wider than the width of the supportingframe 11 in the front-rear direction of the vehicle body 10. A bottom ofthe pedal device 12 is recessed from bottom to top to partially receivethe supporting frame 11. With this arrangement, the structural stabilityof the overall vehicle body 10 can be improved.

A wheel cover 123 is disposed on one side of the pedal foot board 121for covering the wheel 20, and the wheel cover 123 and the pedal device12 are separately disposed. In this way, the manufacturing processes ofthe two can be separated. In other embodiments, the pedal device 12 andthe wheel cover 123 can also be integrally extended. In otherembodiments, the wheel cover 123 and some parts of the pedal device 12may also be integrally formed.

The control device 15 comprises a main control board 150 disposedlaterally within the tubular supporting frame 11. The tubular shape isnot limited to a circular tube, and may also be a long cavity typehaving other shapes in cross section. In this way, the main controlboard 150 can better utilize the space of the longitudinal receivingcavity 110 in the tubular supporting frame 11 to improve spaceutilization. In other embodiments, the main control board 150 may beplaced in the supporting frame 11 in other manners.

The power supply 16 is disposed in the supporting frame 11, and the maincontrol board 150 is provided with a battery docking interface 152 forelectrically connected to the power supply 16. The power supply 16 isprovided with a battery interface 177 for docking the battery dockinginterface 152. In this way, the power supply 16 and the main controlboard 150 are docked through a modular interface, which can avoid morecables 211 from passing through, thereby avoiding problems such as agingof the cable 211, and improving safety.

The battery docking interface 152 is located in a middle portion of themain control board 150 in the left-right direction. In this way, thebalance of the main control board itself can be improved, and theassembly stability can be improved. In other embodiments, the batterydocking interface 152 can also be placed in other positions.

The left and right ends of the main control board 150 are provided withexternal docking interfaces 151 for electrically connected to thedriving devices on both sides, which makes it convenient for theexternal docking interface 151 to be externally docked with theinterface of the driving device and/or the first position sensor 13 tofacilitate better modular assembly.

A connector 25 that is electrically connected to the driving device andelectrically connected to the external docking interface 151 is providedbetween the supporting frame 11 and the wheel 20. The connector 25 canbe electrically connected to the external docking interface 151, whichfacilitates better modular assembly between the driving device and thevehicle body 10.

The external docking interface 151 is located at both ends of the powersupply 16 in the left-right direction. In this way, the external dockinginterface 151 can better utilize the remaining space at both ends of thepower supply 16 in the supporting frame 11 to facilitate docking withthe motor and improve the space utilization inside the supporting frame11.

The main control board 150 is laterally disposed at a top end inside thesupporting frame 11, and the power supply 16 is located below the maincontrol board 150. In this manner, the main control board 150 can bebetter protected from being squeezed.

Front and rear sides above the power supply 16 are provided withabutting ribs 1790 extending in left and right direction for abuttingupward against the main control board 150, and an empty slot 179 isprovided between the abutting ribs and is disposed between the maincontrol board 150 and the power supply 16. In this way, not only thatthe main control board 150 can be better abutted and fixed, and theelements on the main control board 150 can be protected from beingsqueezed.

In this embodiment, the main control board 150 is elongated along theleft-right direction. In this way, the main control board 150 can betterutilize the space of the top end inside the tubular supporting frame 11to improve space utilization. In other embodiments, the main controlboard 150 can also have other shapes.

The man-machine interaction somatosensory vehicle 100 is provided with atransmission connection element therein, and the transmission connectionelement comprises a power transmission element, a Hall transmissionelement, and a temperature transmission element for transmitting atemperature signal. In this way, the temperature transmission elementcan be configured to transmit the temperature signal of the man-machineinteraction somatosensory vehicle 100 to the control device 15. When thetemperature of the corresponding element of the man-machine interactionsomatosensory vehicle 100 reaches a certain degree, the correspondingprotection program such as shutdown can be activated, thereby improvingsafety of the man-machine interaction somatosensory vehicle 100 when inuse.

The transmission element can be a cable or a connecting terminal. Inthis way, signal transmission can be achieved. It can be understood thatthe connecting terminal described herein is not limited to a connectingterminal 252 disposed between the power supply 16 and the driving devicein the figure, and may be a connecting terminal for replacing the cableelsewhere. The cable described herein is not limited to the cable 211shown in the drawing, and may be a cable disposed elsewhere.

In different embodiments of the present disclosure, when thetransmission element is a cable, it may comprise five Hall lines, two orone temperature line, and three power lines. When the transmissionelement is a connecting terminal, it may comprise three power terminals,five Hall terminals, two or one temperature terminal. Certainly, inother embodiments, transmission may be carried out partially by wiresand partially by terminals. For example, in the embodiment, theconnecting terminal 252 can be provided with a power terminal, but notprovided with the Hall terminal, and a battery communication line isadditionally configured to achieve a corresponding function.

The power supply 16 is disposed in the supporting frame 11. The powersupply 16 is provided with a temperature sensor (not shown) therein formonitoring the internal temperature of the power supply 16, and thetemperature transmission element is connected to the temperature sensor.In this way, it can be used to sense whether the power supply 16 isoverheated, thereby improving the safety when in use.

The wheel axle 21 is disposed between the wheel 20 and the vehicle body10, and the wheel 20 is rotatably connected to the vehicle body 10through the wheel axle 21. The driving device is disposed in the wheel20, and the driving device is a driving motor, and the main controlboard 150 is provided with a driving circuit (not shown) for controllingthe driving device. The wheel axle 21 is provided with the cable 211therein connected to the driving device, and the cable 211 extends fromthe wheel axle 21 for connection with a connector 25. In this manner,the power supply, the Hall and the temperature transmission element aredisposed between the driving device and the connector 25. In otherembodiments, the temperature transmission element may not be disposedbetween the driving device and the connector 25, that is, the drivingdevice may not be provided with a temperature sensor.

The connector 25 comprises a frame port 251 and the connecting terminal252 correspondingly connected to the cable 211 in the frame 251.

The power supply 16 is connected to an external docking interface 151,and the external docking interface 151 and the connector 25 are dockedwith each other. In this way, the connector 25 can be docked with theexternal docking interface 151, which improves the modular assemblylevel between the driving device and the power supply 16 and improvessafety.

Further, the power supply 16 and the external docking interface 151 areconnected through the main control board 150. The power supply 16 andthe main control board 150 are provided with a battery docking interface152 and a battery interface 177 therebetween inserted into each other.The external docking interface 151 is provided on the main control board150, and the external docking interface 151 is connected to the powersupply 16 through the main control board 150. In this way, the modularassembly level between the main control board 150 and the power supply16 is further improved, and the safety is improved.

The wheel cover 123 is disposed on an outer side of the wheel 20, andthe wheel cover 123 is provided with an anti-collision adhesive 127. Inthis manner, the wheel cover 123 can be better protected during use.

Specifically, the anti-collision adhesive 127 is protruded from an outerside of the wheel cover 123. In this way, the structure is simple andthe assembling is easy. In other embodiments, the anti-collisionadhesive 127 can also be embedded in the wheel cover 123, and the bufferwear-resistant material different from the wheel cover 123 can be usedto improve durability while saving material cost.

As described in FIG. 1 , the anti-collision adhesive 127 is located onfront and rear sides of the wheel cover 123. In this manner, thematerial cost is saved. In other embodiments, other parts may also beequipped with anti-collision adhesive 127.

The wheel cover 123 is fixed on the vehicle body 10. The vehicle body 10comprises the motor fixing base 3 located between the wheel 20 and thesupporting frame 11. The motor fixing base 3 is configured to pivotallyposition the wheel 20.

The motor fixing base 3 extends upward to provide the insertion mountingleg 311 for inserting and fixing the wheel cover 123. A bottom of thewheel cover 123 is provided with a mounting slot 1230 recessed frombottom to top for receiving the insertion mounting leg 311. In this way,the wheel cover 123 can be stably fixed with the motor fixing base 3,and the structure is simple and the assembly is stable.

A fixing rod 1231 protruding from top to bottom and located on the frontand rear sides of the mounting slot 1230 is disposed below the wheelcover 123. The motor fixing base 3 is provided with a fixing slot 313located on front and rear sides of the insertion mounting leg 311 andrecessed from top to bottom for inserting, receiving and fixing thefixing rod 1231. In this manner, the stability of the fastening betweenthe wheel cover 123 and the motor fixing base 3 can be enhanced.

Since the size of the supporting frame 11 in the front-rear and/orup-down directions of the vehicle body 10 is smaller than the diameterof the wheel 20 and the supporting frame 11 is a circular tube extendingin the axial direction of the wheels 20, the wheel cover 123 is providedwith an extension portion 1242 for shielding the wheel cover portion1241 of the wheel 20 and extending in a shrinking manner from the wheelcover portion 1241 to the supporting frame 11 in a streamlined shape. Inthis way, the extension portion 1242 can provide a better dustproof andwaterproof function between the wheel 20 and the vehicle body 10, andcan improve the structural consistency of the overall man-machineinteraction somatosensory vehicle 100, and is easy for the user toclean.

An extending tail end of the extension portion 1242 is provided with amounting notch 124 engaging the supporting frame 11, so as to improvethe structural stability of the overall man-machine interactionsomatosensory vehicle 100.

The supporting frame 11 is provided with the recessed guide rail 112,and the guide rail 112 is provided with a light strip 4. In this way,the installation is simple; the light strip 4 can make the man-machineinteraction somatosensory vehicle 100 have better warning recognitionfunction when in use, such that traffic safety of the user can beimproved.

The guide rail 112 extends in the left-right direction and is disposedon the front side and/or the rear side of the supporting frame 11. Thus,the light strip 4 can be disposed on the front side and/or the rear sideof the supporting frame 11.

The pedal device fixing bracket 18 for mounting and holding the pedaldevice 12 is further inserted into the guide rail 112. In suchconfiguration, the pedal device fixing bracket 18 and the light strip 4can share one guide rail 112, which is convenient for manufacturing.

The left and right ends of the guide rail 112 are inserted with thepedal device fixing brackets 18 for respectively mounting and holdingthe two left and right pedal devices 12, and the light strip 4 islocated between the two pedal device fixing brackets 18. During theassembling process, the light strip 4 can be first inserted into theguide rail 112, and then the pedal device fixing brackets 18 on the twosides are inserted into the guide rails 112 on both sides of the lightstrip 4 for easy assembly.

The rear side of the light strip 4 is fixed with a fixing strip 41 forinserting into the guide rail 112. In this way, the light strip 4 andthe fixing strip 41 can be assembled together after manufacturingseparately, which makes it easy for manufacturing and molding the lightstrip 4.

The guide rail 112 has a T-shaped cross section. The fixing strip 41 hasa T-shaped cross section. In this way, the fixing strip 41 and the guiderail 112 are closely matched to improve the stability of the fasteningbetween the light strip 4 and the supporting frame 11. In otherembodiments, the cross section may also have other shapes as long as itis ensured that the fixing strip 41 and the guide rail 112 do not falloff after insertion.

The supporting frame 11 is a circular tube extending axially along thewheel 20, and the guide rail 112, the pedal device fixing bracket 18 andthe light strip 4 are all located in the upper half portion of thesupporting frame 11. In this manner, the supporting frame 11 can providebetter upward support to the pedal device fixing bracket 18. In otherembodiments, the guide rail 112, the pedal device fixing bracket 18 andthe light strip 4 may be located in the middle or lower half portion ofthe supporting frame 11.

The supporting frame 11 is provided with a longitudinal power supply 16therein extending in the axial direction of the wheel 20. The powersupply 16 comprises a battery case 17, and the battery case 17 and thesupporting frame 11 are made of metal. In this way, the metallic batterycase 17 can make the power supply 16 an explosion-proof battery, and themetallic supporting frame 11 can further provide protection for theexplosion-proof power supply 16, and the double metallic materialprotection can greatly improve the safety of the man-machine interactionsomatosensory vehicle 100, and avoid the safety accident caused by theexplosion of the power supply 16.

In this embodiment, the supporting frame 11 is an aluminum tube. Inother embodiments, the supporting frame 11 can also be other metalmaterials.

The battery case 17 and the supporting frame 11 are provided with aposition-limiting recess 170 and a position-limiting protrusion 111therebetween engaging each other. The arrangement is advantageous forthe positioning between the power supply 16 and the supporting frame 11,which is less likely to cause displacement between each other, improvesoverall stability, and can avoid reverse installation in assembling.

The size of the supporting frame 11 in the front-rear and/or up-downdirections of the vehicle body 10 is smaller than the diameter of thewheel 20. With this arrangement, the vehicle body 10 has a smaller sizein the front-rear and/or the up-down directions, which saves materialcost and is easy to be carried.

The supporting frame 11 is a circular tube extending axially along thewheel 20. With this arrangement, the supporting frame 11 has a smallersurface area on basis of the same capacity, thereby saving material costand allowing the vehicle body 10 to be more compact and lighter. On theother hand, the supporting frame 11 with a smooth surface is less likelyto cause damage and destruction to the user or surrounding objects. Inother embodiments, the cross section of the supporting frame 11 and theelongated power supply 16 along the wheel axle 21 may also berectangular, other polygonal, elliptical or other irregular shapes. Theelongated power supply 16 has a circular cross-sectional area along theaxial direction of the wheel 20, and is engaged with the supportingframe 11.

In the embodiment, the pedal device 12 and the supporting frame 11 arefixedly connected. The first position sensor 13 can be configured tosense stress information on the pedal device 12.

In other embodiments, the first position sensor 13 can also beconfigured to sense whether there is a user on the pedal device 12 tocontrol the wheels 20 to start or stop. With this setting, it is notnecessary to provide an additional sensing switch, thereby simplifyingthe structure of the vehicle body 10. Certainly, in other embodiments,the sensing switch can also be set independently.

The driving device can be disposed in the wheel 20, so that the drivingdevice can be built in the wheel 20 with existing volume, and the spaceutilization is high; in other embodiments, the driving device can alsobe disposed inside the supporting frame 11. In this manner, theconfiguration can be applied when the wheel 20 is relatively small.

The pedal device 12 comprises the pedal foot board 121 and the foot pad122 located above the pedal foot board 121. The first position sensor 13is disposed under the pedal foot board 121. In this manner, the user canpedal on the foot pad 122 to meet the specific anti-slippery requirementor improve the pedaling comfort.

The pedal device 12 is outwardly inclined compared to the front-reardirection. In this way, the configuration can be adapted to the standingposture that the distance between the two toes of the user is wider thanthe distance between the two heels, thereby increasing user's comfort.In other embodiments, the pedal device 12 may not be inclined.

In summary, in the man-machine interaction somatosensory vehicle 100 ofthe present disclosure, there is only one tubular supporting frame 11between the two wheels 20 for providing a supporting function, and thepedal device 12 is independently disposed on the supporting frame 11.There is no need to use two rotatably connected mechanisms torespectively set the pedal device 12. As compared with existingbalancing vehicle or twisting vehicle on the market, the presentdisclosure has a simple structure and the vehicle body 10 is integrallyformed with good expandability, and steering rod or the vehicle bodyseparating and rotating structure is reduced, such that the vehicle bodyis more robust.

Although the present disclosure has been disclosed in the abovepreferred embodiments, it is not intended to limit the disclosure, andthe disclosure may be changed or modified by persons skilled in the artwithout departing from the spirit and scope of the disclosure. The scopeof present disclosure is subject to the scope of the claims.

What is claimed is:
 1. A man-machine interaction somatosensory vehicle,comprising a vehicle body and two wheels disposed on the vehicle body,the wheels being rotatable around the vehicle body in a radialdirection; wherein the vehicle body further comprises a supportingframe, two pedal devices disposed on the supporting frame, a controldevice, and a driving device configured to drive the wheels, thesupporting frame is an integral structure formed as one piece, and isrotatably connected to the wheels, each of the pedal devices comprises apedal foot board and a first position sensor located between the pedalfoot board and the supporting frame for sensing stress information ofeach of the pedal devices, the control device controls the drivingdevice to drive the wheels to move or steer according to the stressinformation of the two pedal devices, wherein the supporting frame isprovided with a recessed guide rail, the guide rail is inserted with apedal device fixing bracket for mounting and holding the pedal device,the guide rail extends in a left-right direction and is disposed on afront side and/or a rear side of the supporting frame, left and rightends of the guide rail are inserted with the pedal device fixingbrackets for mounting and holding the two pedal devices on left andright respectively, a single-sided guide rail for inserting the twopedal device fixing brackets on left and right is integrally extended orindependent of each other, the guide rail has a T-shaped cross section,each of the pedal device fixing brackets comprises an insertion portionlaterally inserted into the guide rail and a mounting portion extendingoutwardly from the guide rail for mounting and holding the pedal device,the mounting portion is provided with a fastening hole for fastening thepedal device, a supporting wing portion extending between the mountingportion and the insertion portion and attached to the supporting framein an upward and/or a downward direction is provided.
 2. The man-machineinteraction somatosensory vehicle of claim 1, wherein each of the firstposition sensors comprises two sensing element regions distributed attwo portions of one of the pedal foot boards, each of the first positionsensors senses stress information of the two portions of the pedal footboard through the two sensing element regions, and obtains the stressinformation of each of the pedal devices.
 3. The man-machine interactionsomatosensory vehicle of claim 2, wherein each of the sensing elementregions is provided with a first force receiving portion and a secondforce receiving portion, the first force receiving portion of each ofthe sensing element regions abuts against one of the supporting frameand the pedal foot board, and the second force receiving portion abutsagainst the other one of the supporting frame and the pedal foot board.4. The man-machine interaction somatosensory vehicle of claim 3, whereineach of the first position sensors comprises a front end portion and arear end portion, and a connecting portion connecting the front and rearend portions, each of the front and rear end portions comprises thefirst force receiving portion, the second force receiving portion, andthe sensing element region between the first force receiving portion andthe second force receiving portion.
 5. The man-machine interactionsomatosensory vehicle of claim 3, wherein a bottom surface of one of thefirst force receiving portion and the second force receiving portionabutting against the pedal foot board is in suspended arrangement. 6.The man-machine interaction somatosensory vehicle of claim 5, whereineach of the pedal devices further comprises a sensor fixing base mountedon the supporting frame, one of the first force receiving portion andthe second force receiving portion abutting against the supporting frameabuts against the supporting frame through the sensor fixing base. 7.The man-machine interaction somatosensory vehicle of claim 6, whereineach of the pedal devices further comprises a lower shell locatedbetween the sensor fixing base and the vehicle body, a foot pad isdisposed above the pedal foot board, and the foot pad is connected tothe lower shell in a closed manner.
 8. The man-machine interactionsomatosensory vehicle of claim 6, wherein the first force receivingportion of each of the sensing element regions abuts against acorresponding one of the pedal foot boards, and the second forcereceiving portion abuts against the sensor fixing base, a bottom surfaceof the first force receiving portion is suspended.
 9. The man-machineinteraction somatosensory vehicle of claim 8, wherein a first gap isformed between the pedal foot board and the sensing element region, asecond gap is formed between the sensor fixing base and the sensingelement region.
 10. The man-machine interaction somatosensory vehicle ofclaim 1, wherein the first position sensor is a stress sensor.
 11. Theman-machine interaction somatosensory vehicle of claim 1, wherein thefirst position sensor is configured to sense whether there is a user onthe pedal device to control the wheels to start or stop.
 12. Theman-machine interaction somatosensory vehicle of claim 1, furthercomprising a second position sensor for sensing tilt information of thesupporting frame relative to the wheels, wherein the second positionsensor comprises a gyroscope, an acceleration sensor, and/or aphotoelectric sensor.
 13. The man-machine interaction somatosensoryvehicle of claim 1, wherein the supporting frame is provided with alongitudinal power supply therein extending in an axial direction of thewheels, the power supply comprises a battery case, the battery case andthe supporting frame are made of metal, and a position-limiting recessand a position-limiting protrusion matched with each other are providedbetween the battery case and the supporting frame.
 14. The man-machineinteraction somatosensory vehicle of claim 1, wherein the supportingframe is a tubular shape extending axially along the wheels, and theguide rail and the pedal device fixing bracket are both located in anupper half portion of the supporting frame.
 15. The man-machineinteraction somatosensory vehicle of claim 1, wherein a wheel axle isdisposed between the wheel and the vehicle body, the wheels is rotatablyconnected to the vehicle body through the wheel axle, a center ofgravity of the vehicle body is lower than the wheel axle, one end of thewheel axle is connected to the wheels, and the other end of the wheelaxle is connected with a wheel axle fixing board, and the wheel axlefixing board is fixed to the vehicle body.
 16. The man-machineinteraction somatosensory vehicle of claim 15, wherein the wheel axle isfixed on an upper half portion of the wheel axle fixing board, a lateralend of the supporting frame is provided with a motor fixing base forfixedly engaging the wheel axle fixing board, and a center of gravity ofthe motor fixing base is lower than the wheel axle, the wheel axlefixing board is perpendicular to a wheel axle direction, and the drivingdevice is disposed in the wheel, and the wheel axle is provided with acable connecting the driving device, and the cable extends out of thewheel axle fixing board to be connected to the control device and/or apower supply.
 17. The man-machine interaction somatosensory vehicle ofclaim 16, wherein a sealing gasket is disposed between the wheel axlefixing board and the motor fixing base, the supporting frame is providedwith a receiving cavity for inserting and engaging the motor fixingbase, and the motor fixing base comprises an insertion end for insertingand positioning in the receiving cavity and a cover part connected tothe insertion end for sealing an outer side of the receiving cavity, apower supply is disposed in the receiving cavity, and the motor fixingbase is provided with a positioning rod laterally protruded for abuttingagainst the power supply in the receiving cavity, a wheel cover isdisposed above the wheel, and the cover part of the motor fixing baseextends upward to form an insertion mounting leg for inserting andfixing the wheel cover, a position-limiting protrusion and aposition-limiting recess extending left and right and matching eachother are provided between a receiving cavity of the vehicle body andthe insertion end of the motor fixing base, and the motor fixing base isprovided with a recessed receiving slot for receiving and holding thewheel axle fixing board.
 18. The man-machine interaction somatosensoryvehicle of claim 1, wherein the control device comprises a main controlboard disposed laterally within the tubular supporting frame, a powersupply is disposed in the supporting frame, and the main control boardis provided with a battery docking interface for electrically connectingto the power supply, and the power supply is provided with a batteryinterface for docking the battery docking interface.
 19. The man-machineinteraction somatosensory vehicle of claim 18, wherein left and rightends of the main control board are provided with an external dockinginterface for electrically connecting to the driving devices and/or thefirst position sensors on two sides, a connector electrically connectedto the driving device and electrically connected to the external dockinginterface is disposed between the supporting frame and the wheels, andthe external docking interface is located at both ends of the powersupply in the left-right direction.
 20. The man-machine interactionsomatosensory vehicle of claim 18, wherein the main control board islaterally disposed at a top end of the supporting frame, and the powersupply is located below the main control board.
 21. The man-machineinteraction somatosensory vehicle of claim 18, wherein front and rearsides above the power supply are provided with abutting ribs extendingin left and right for abutting upward against the main control board,and an empty slot is provided between the abutting ribs and is disposedbetween the main control board and the power supply.
 22. The man-machineinteraction somatosensory vehicle of claim 1, wherein the man-machineinteraction somatosensory vehicle is provided with a transmissionelement, and the transmission element comprises a power transmissionelement, a Hall connection element, and a temperature connection elementfor transmitting a temperature signal, a power supply is disposed in thesupporting frame, and a temperature sensor for monitoring an internaltemperature of the power supply is disposed inside the power supply, andthe temperature transmission element is connected to the temperaturesensor, and a wheel axle is disposed between the wheel and the vehiclebody, and the wheels are rotatably connected to the vehicle body throughthe wheel axle, and the driving device is disposed in the wheels, andthe wheel axle is provided with a cable connected to the driving device,and the cable extends out of the wheel axle for connecting to aconnector.